一种利用全站仪和检校场的相机/惯导空间标定方法  

Visual and inertial sensors space calibration method using total station and calibration field

作　　者：贾俊 朱锋[1] 张小红[1,2] JIA Jun;ZHU Feng;ZHANG Xiaohong(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Collaborative Innovation Center of Geospatial Technology,Wuhan 430079,China)

机构地区：[1]武汉大学测绘学院,武汉430079 [2]地球空间信息技术协同创新中心,武汉430079

出　　处：《导航定位学报》2020年第6期6-13,共8页Journal of Navigation and Positioning

摘　　要：针对视觉/惯性传感器组合导航在自动驾驶、机器人自主定位中,相机/惯导外参数标定精度不高的问题,提出1种利用全站仪和检校场对相机和惯导进行空间标定的方法:采用全站仪测量惯导设备角点,以获得惯导在世界坐标系下的位姿,并采用检校场,估计出相机在世界坐标系下的位姿;然后得到相机与惯导之间的空间关系;最后对多组不同视角下的标定结果进行分析后得出:外参标定的平移参数重复性优于5 mm;旋转参数重复性优于0.5°。实验结果表明,该方法相比于已有的自标定方法,无需进行视觉/惯性里程计的融合解算,也不需要考虑多传感器之间的时间同步问题,更加适用于不同载体上的多传感器组合导航设备。Aiming at the the problem of the low calibration accuracy of camera/inertial external parameters in autonomous driving and autonomous positioning of robots for vision/inertial sensor integrated navigation,the paper proposed a camera/inertial spacial calibration method using total station and calibration field:the corner points of the inertial navigation device were measured by a total station to obtain the position and orientation of the inertial navigation system under the world coordinate system,and the calibration field was used to estimate the position and orientation of the camera under the world coordinate system;then the spatial relationship between the camera and the inertial navigation system was got;finally the calibration outputs under different sets of perspectives were analyzed.Results showed that:with the proposed method,the repeatability of the translation parameters could be better than 5 mm,and the repeatability of the rotation parameters could be better than 0.5°;therefore,compared with the existing self-calibration methods,the method would not require the fusion solution of visual/inertial odometer,nor would it need to consider the time synchronization between multiple sensors,so it could be more suitable for multi-sensor integrated navigation devices on different carriers.

关 键 词：空间标定 惯性传感器 视觉传感器 全站仪 相机检校场 

分 类 号：P228[天文地球—大地测量学与测量工程]